The robot is a new type of device that wins in the mechanized and automated production process. In recent years, with the wide application of electric technology, especially electronic computers, the development and production of robots has become an emerging technology that has rapidly accelerated in the field of high-tech technology, which has further promoted the development of robots, enabling robots to Better integration with mechanization and automation.
PLC has been widely used in the field of automatic control of industrial production process. It has the advantages of simple structure, easy programming, superior performance, high reliability, flexibility and universality. The pressure medium in pneumatic technology comes from air, and the environmental pollution is small and easy to control. Engineering is one of the means of achieving automation control, especially in non-polluting industries. This paper describes the related design of pneumatic manipulator pneumatic device and PLC control system.
1 working principle
1.1 Pneumatic manipulator consists of a stepper motor, a linear guide, a cylinder, a sensor, a positioning switch, a travel switch, a bracket, and a mechanical zero-piece; the control system is formed by a pneumatic device and a PLC control system. The PLC control system acts as a soil controller to control the operation of the entire manipulator. The control system uses standard modular juice. The sensor acts as a feedback detection component to provide a signal to the PLC to control the solenoid valve in the pneumatic device, thereby controlling the rise and fall of the manipulator. Rotation and other actions. The schematic diagram of the pneumatic manipulator is shown in Figure 1.
1.2 Pneumatic manipulator working process
2 Pneumatic control circuit design
The pneumatic control loop is the actuator of the working unit, and the logic control function of the actuator is realized by the PLC. Figure 2 shows the working principle of the pneumatic control circuit. B1 and B2 are magnetic sensors installed in the two extreme working positions of the push cylinder; 1Y1, 2Y1, 3Y1, 4Y1, and 4Y2 are solenoid valves for controlling the cylinder.
The circuit of the pneumatic manipulator is composed of four circuits, which controls the lifting, telescopic, grasping and relaxing and rotating four movements of the manipulator. The three direct-acting cylinders and one rotating cylinder are respectively formed. In the process of setting the pneumatic circuit, the two-way five-way electromagnetic reversing valve controls the reversing. Since the four cylinders operate in sequence, the juice has a median position. The side of the cylinder movement can be controlled by adjusting the flow rate of the throttle valve to control the flow rate. The pneumatic circuit is easy to implement automatic control, and the commutation valve can be controlled by the PLC to realize automatic commutation. In addition, the pneumatic circuit can be used in any harsh environment and is relatively easy to maintain, so it is used more and more widely in the automatic control center.
3 PLC control system design In this system, the number of input points is l0 points, and the number of output points is 8 points. Considering the control requirements and convenient maintenance, the F X2N-48MT type PLC produced by Mitsubishi Corporation of Japan is used as the main controller. The electromagnet supply voltage is DC 24V, which is directly connected to the PLC transmission circuit, making the system simple and reliable. The input/output external connection coil is shown in Figure 3.
According to the analysis, the lifting cylinder needs to move four times during a working cycle. If the "experience" programming method is adopted, the program is more complicated and easy to generate obstacle signals. Therefore, the state programming method is used to set the juice PLC program, the idea of ​​state programming. To: Decompose a complex control process into several working states, clarify the details of the work of the state, and then relate these states according to the requirements of the overall control sequence to form a state transition diagram, and then compile the ladder program. In this way, a "state" represents a "process", the program is simple and intuitive, and the obstacle signal can be eliminated. The working state diagram is shown in Figure 4, part of the program diagram 5
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Tag: Robot Pneumatic device Cylinder Pneumatic control Stroke switch
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